#ifndef	KINEMATIC_MODEL_TYPES_H
#define KINEMATIC_MODEL_TYPES_H
#include "Point.h"

typedef struct {

	bool reachable;

	float teta1;
	float teta2;
	float teta3;


} invKinResult;

typedef struct {

	Point *shoulder;
	Point *elbow;
	Point *wrist;
	Point *handCenter;
	Point *graspingPoint1;
	Point *graspingPoint2;
	Point *fingerPoint1;
	Point *fingerPoint2;


} dirKinResult;

#endif